COAST Guidewire Robot
Coaxially Aligned STeerable Guidewire with Integrated Shape and Force Sensing Read more
Posts by Collection
portfolio
Portfolio item number 2
Short description of portfolio item number 2 
Read more
publications
Automated motion control of the COAST robotic guidewire under fluoroscopic guidance
Published in IEEE ISMR, 2021
This paper introduces a novel, tailored path-planning algorithm for contorl of steerable guidewires. Read more
Recommended citation: Ravigopal, S. R., Brumfiel, T. A., & Desai, J. P. (2021, November). Automated motion control of the COAST robotic guidewire under fluoroscopic guidance. In 2021 International Symposium on Medical Robotics (ISMR) (pp. 1-7). IEEE.
Download Paper
Fluoroscopic image-based 3-D environment reconstruction and automated path planning for a robotically steerable guidewire
Published in IEEE Robotics and Automation Letters, 2022
This work introduces 3D Reconstruction Algorithm for C-arm Fluoroscopy and a novel 3D Path-planning algorithm with open-loop control validation. Read more
Recommended citation: S. R. Ravigopal, T. A. Brumfiel, A. Sarma and J. P. Desai, "Fluoroscopic Image-Based 3-D Environment Reconstruction and Automated Path Planning for a Robotically Steerable Guidewire," in IEEE Robotics and Automation Letters, vol. 7, no. 4, pp. 11918-11925, Oct. 2022, doi: 10.1109/LRA.2022.3207568.
Download Paper
Design, analysis, and demonstration of the COAST guidewire robot with middle tube rotation for endovascular interventions
Published in Nature Portfolio Scientific Reports, 2024
This work introduces a novel design of a robotic guidewire with optimized design parameters based on empirical and mechanics analysis along with teleoperated validation. Read more
Recommended citation: Ravigopal, S.R., Konda, R., Malhotra, N. et al. Design, analysis, and demonstration of the COAST guidewire robot with middle tube rotation for endovascular interventions. Sci Rep 14, 27629 (2024). https://doi.org/10.1038/s41598-024-75871-7
Download Paper
talks
Image Guidance for Robotically Steerable Guidewires for Minimally Invasive Endovascular Surgery
Published:
HeRO Research in Progress Seminar Emory University: Robotically Steerable guidewires can be controlled through image-bsed control form multimodal imaging through ultrasound and fluoroscopy. I discussed the methods that we used to perform this. Read more
C-arm fluoroscopy-guided Pose Estimation and Path Planning of Surgical Robots
Published:
Harvard Medical School: National Image Guided Therapy Workshop : C-am fluoroscopy-guided Pose Estimation and Path Planning of Surgical Robots Read more
Design, Analysis, and Demonstration of the COAST Guidewire Robot with Middle Tube Rotation for Endovascular Interventions
Published:
Best Poster Award for ๐ฎ๐ฌ๐ฎ๐ฑ ๐๐๐ฅ๐ ๐ช๐ผ๐ฟ๐ธ๐๐ต๐ผ๐ฝ: โ๐ฅ๐ผ๐ฏ๐ผ๐-๐๐๐๐ถ๐๐๐ฒ๐ฑ ๐๐ป๐ฑ๐ผ๐๐ฎ๐๐ฐ๐๐น๐ฎ๐ฟ ๐๐ป๐๐ฒ๐ฟ๐๐ฒ๐ป๐๐ถ๐ผ๐ป๐: ๐๐ต๐ฎ๐น๐น๐ฒ๐ป๐ด๐ฒ๐ ๐ฎ๐ป๐ฑ ๐ข๐ฝ๐ฝ๐ผ๐ฟ๐๐๐ป๐ถ๐๐ถ๐ฒ๐โ ๐ง๐ถ๐๐น๐ฒ: Design, Analysis, and Demonstration of the COAST Guidewire Robot with Middle Tube Rotation for Endovascular Interventions ๐๐๐๐ต๐ผ๐ฟ๐: Sharan Ravigopal, Revanth Raghuram Konda, Nidhi Malhotra, Jaydev Desai Read more
Enabling Distal Rotation in a Robotically Steerable Guidewire: An Initial Approach
Published:
๐๐ฒ๐๐ ๐ฃ๐ผ๐๐๐ฒ๐ฟ ๐๐๐ฎ๐ฟ๐ฑ ๐ฅ๐๐ป๐ป๐ฒ๐ฟ-๐๐ฝ ๐ฎ๐ ๐ฎ๐ฌ๐ฎ๐ฑ ๐๐๐ฅ๐ ๐ช๐ผ๐ฟ๐ธ๐๐ต๐ผ๐ฝ ๐๐ถ๐๐น๐ฒ๐ฑ โ๐จ๐ฏ๐ถ๐พ๐๐ถ๐๐ผ๐๐ ๐ ๐ฒ๐ฑ๐ถ๐ฐ๐ฎ๐น ๐ฅ๐ผ๐ฏ๐ผ๐๐ถ๐ฐ๐: ๐๐ฒ๐๐๐ผ๐ป๐ ๐๐ฒ๐ฎ๐ฟ๐ป๐ฒ๐ฑ, ๐ฉ๐ถ๐๐ถ๐ผ๐ป ๐๐ฒ๐๐ผ๐ป๐ฑโ: โEnabling Distal Rotation in a Robotically Steerable Guidewire: An Initial Approachโ Read more
teaching
Graduate Teaching Assistant: Robotics & Controls
Graduate Teaching Assistant, Georgia Institute of Technology, 2025
- Course Instruction: Assisted in the instruction of graduate-level robotics courses, focusing on control theory, autonomous systems, and robotic manipulation.
- Lab Leadership: Supervised hands-on laboratory sessions where students programmed and deployed algorithms on physical robotic platforms (e.g., TurtleBots, Franka Emika).
- Technical Mentorship: Provided one-on-one technical guidance during office hours, helping students debug complex Python/C++ code and implement Kalman filters and PID controllers.
- Grading & Assessment: Evaluated technical reports and final project codebases, ensuring students met the rigorous standards of the Georgia Tech Robotics Ph.D. program.
- Collaboration: Worked closely with faculty to refine course materials and integrate modern industry tools like ROS2 and NVIDIA Isaac Sim into the curriculum.
Robotics Research Mentor
Research Mentor, Lumiere Education, 2025
- Independent Research Guidance: Mentored high-achieving students through the full lifecycle of independent research projects in Machine Learning, Robotics, and Biomedical Engineering.
- Methodological Supervision: Provided expert guidance on research design, sensor fusion methodology, and statistical analysis for autonomous systems.
- Publication Support: Assisted mentees in drafting and refining technical manuscripts for submission to high-school journals and international science competitions (ISEF, JSHS).
- Project Management: Managed multiple project timelines simultaneously, fostering a professional environment that emphasized critical thinking and hardware-software integration.